WO2012012607A2 - Procédés et systèmes pour des systèmes hiérarchiques de temps de vol (tof) d'anti-repliement - Google Patents

Procédés et systèmes pour des systèmes hiérarchiques de temps de vol (tof) d'anti-repliement Download PDF

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WO2012012607A2
WO2012012607A2 PCT/US2011/044800 US2011044800W WO2012012607A2 WO 2012012607 A2 WO2012012607 A2 WO 2012012607A2 US 2011044800 W US2011044800 W US 2011044800W WO 2012012607 A2 WO2012012607 A2 WO 2012012607A2
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Prior art keywords
phase
dealiasing
frequencies
modulation
modulation frequency
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WO2012012607A3 (fr
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Hua HUI
Cyrus Bamji
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Microsoft Corp
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Microsoft Corp
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Priority to EP11810389.4A priority Critical patent/EP2596321B1/fr
Priority to KR1020137001577A priority patent/KR101824753B1/ko
Priority to JP2013520860A priority patent/JP5918763B2/ja
Publication of WO2012012607A2 publication Critical patent/WO2012012607A2/fr
Publication of WO2012012607A3 publication Critical patent/WO2012012607A3/fr
Priority to IL224134A priority patent/IL224134A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G01C3/08—Use of electric radiation detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement

Definitions

  • the present invention is directed to disambiguating (or dealiasing) the inherent ambiguity between detected values of phase shift ⁇ and distance Z, especially in the presence of noise.
  • Modern time-of-f light (TOF) systems can ascertain depth distances (Z) to a target object by emitting modulated optical energy of a known phase ( ⁇ ), and examining phase-shift in the optical signal reflected from the target object back to the TOF system.
  • phase-type TOF systems are described in several U.S. patents received by Canesta, Inc., and now assigned to Microsoft, Inc. Such patents include US patent numbers 6,515,740 "Methods for CMOS- Compatible Three-Dimensional Imaging Sensing Using Quantum Efficiency
  • Fig. 1 A is based upon the above-referenced patents, e.g. the ⁇ 86 patent, and depicts an exemplary phase-type TOF system.
  • exemplary phase-shift TOF depth imaging system 100 may be fabricated on an IC 1 10 that includes a two-dimensional array 130 of pixel detectors 140, which pixel detectors may be single-ended or differential in operation.
  • each of the pixel detectors 140 has dedicated circuitry 150 for processing detection charge output by the associated detector.
  • IC 1 10 preferably also includes a microprocessor or microcontroller unit 160, memory 170 (which preferably includes random access memory or RAM and read-only memory or ROM), a high speed distributable clock 180, and various computing and input/output (I/O) circuitry 190.
  • controller unit 160 may perform distance to object and object velocity calculations.
  • optical energy source 120 is periodically energized by an exciter 1 15, and emits modulated optical energy toward an object target 20.
  • Emitter 120 preferably is at least one LED or laser diode(s) emitting low power (e.g., perhaps 1 W) periodic waveform, producing optical energy emissions of known frequency (perhaps a few dozen MHz) for a time period known as the shutter time (perhaps 10 ms).
  • emitter 120 operates in the near IR, with a wavelength of perhaps 800 nm.
  • a lens 125 is commonly used to focus the emitted optical energy.
  • phase shift ⁇ can be processed to yield desired Z depth information.
  • pixel detection current can be integrated to accumulate a meaningful detection signal, used to form a depth image. In this fashion, TOF system 100 can capture and provide Z depth information at each pixel detector 140 in sensor array 130 for each frame of acquired data.
  • phase-type TOF systems such as system 100 is described more fully later herein with respect to Fig. 2B, but in brief, pixel detection infornnation is captured at at least two discrete phases, preferably 0° and 90°, and is processed to yield Z data.
  • System 100 yields a phase shift ⁇ at distance Z due to time-of-flight given by:
  • Fig. 1 D is a mapping of detected phase ⁇ versus distance Z for system 100. Assume that system 100 determines a phase angle ⁇ ' for target object 20, where this phase information was acquired with a modulation frequency fi of say 50 MHz. As shown by Fig. 1 D, there are several distances, e.g., ⁇ i, z 2 , z 4 , z 5 , etc. that could be represented by this particular phase angle ... but which is the correct distance? In Fig. 1 D, Z A IRI represents the Z distance aliasing interval range associated with z data acquired at frequency fi, and is the distance from zi to z 2 , or z 2 to z 4 , or z 4 to z 5 , etc.
  • Fig. 1 D also shows, in bold line, phase data acquired for a lower modulation frequency f 2 .
  • f 2 is perhaps 20 MHz, in that the slope d0 /dz for the f 2 waveform is less than about half the slope for the fi waveform, where the slope d0 /dz is proportional to modulation frequency f m .
  • data is captured from pixel detectors at at least two discrete phases, e.g., 0° and 180°.
  • the aliasing interval range Z A IR 2 has advantageously increased from a short range Z A IRI (associated with faster modulation frequency fi) to a greater range ZAIR2-
  • the ratio of the aliasing interval range increase will be the ratio f 2 /f i .
  • acquiring phase data with lower modulation frequency f 2 yields a Z value with less precision or resolution than if acquired with higher modulation frequency fi . This imprecision occurs because the slope of the curve for frequency f 2 is about half the slope for modulation frequency fi .
  • dealiasing a TOF system would achieve the unambiguous range for a low modulation frequency, while providing the distance resolution for a high modulation frequency. But dealiasing in the presence of noise can be
  • the present invention provides a method and system for dealiasing in phase-type TOF systems.
  • Embodiments of the present invention hierarchically dealias the depth distance Z acquired by a phase-type time of flight (TOF) system.
  • Depth data is acquired by the TOF system using preferably at least three modulation
  • n intermediate frequencies f DE1 ,f DE2 , - OEU are generated sorted by order of f DE1 ⁇ f DE2 ⁇ ... ⁇ f DEn and their corresponding phases are computed from the data acquired separately using three or more modulation frequencies f 1 ,f 2 , - , f m -
  • Hierarchical dealiasing may be carried out one step at a time, if desired.
  • high modulation frequency f E is a function of all modulation frequencies fi> f2> - > fm > and the function may be, without limitation, an arithmetic mean of fi, f 2 , - , fm, or a weighted average of fc,f 2 , ... , f m .
  • the selection of the intermediate frequencies ⁇ DEI > ⁇ DE2> - > fDEn can be based on a ratio between two not necessarily
  • hierarchical dealiasing may be carried out in a stepped sequence that includes first de-aliasing phase data of f DE1 using phase of fjj , and then dealiasing phase of f DE2 using phase of f DE1 . If desired, at each step, the phase of f DE(k +i ) is dealiased using the phase of f DEk until a last step, at which phase f E is dealiased using the phase of f DEn to yield an unwrapped phase of f E .
  • the unwrapped phase of f E is computable by using at a last step of hierarchical de-aliasing, the dealiasing phase of each modulation frequency f 1 , f 2 , - , f m using f DEn to get unwrapped phase of each modulation frequency, and then computing unwrapped phase of f E using a function between f E and /i, / 2 , ... , f m .
  • °f fDE k -i f rom a previous de-aliasing step is used to find a correct phase cycle of oi ?(f e+i) within a cycle of f DEk . This then enables the correct cycle of / D£(fe+1) within a total unambiguous range Z D , or the cycle of f D , to be found.
  • the present invention recognizes that the difficulty of successfully dealiasing data increases as the ratio f E /fo increases because noise in ⁇ ⁇ is amplified by this ratio when 0 E used to computer 0 D s- Consequently for high modulation frequency, which corresponds to a large effective frequency , or for a very large unambiguous range, which corresponds to small difference frequency fo, such amplified noise would produce erroneous results in estimating a dealiasing interval K. The result could cause aliasing the middle of an
  • Embodiments of the present invention may be implemented in hardware and/or software, which hardware and/or software may be part of the TOF system with which the invention is practiced.
  • Hierarchical dealiasing according to the embodiments of the present invention is preferably relatively low loss.
  • FIG. 1 A is a block diagram depicting a phase-type time-of-flight three- dimensional imaging system, according to the prior art
  • FIGS. 1 B and 1 C depict emitted and reflected optical energy waveforms associated with the imaging system of Fig. 1 A, according to the prior art
  • FIG. 1 D depicts acquired phase-vs-distance Z for two modulation frequencies and demonstrates aliasing intervals, and distance ambiguity, according to the prior art
  • FIG. 1 E is a polar representation of acquired phase data as a function of modulation frequency, according to the prior art
  • FIG. 2A depicts a phase-type time-of-flight three-dimensional imaging system with dealiasing, according to embodiments of the 12/459,033 application;
  • FIG. 2B depicts details of exemplary phase capture at 0° and 180°, 90° and
  • FIG 3 acquired phase-vs-distance Z for two close modulation frequencies, and for virtual frequencies fo, , and fos, and resultant large aliasing interval Z A IR, according to embodiments of the 12/459,033 application;
  • FIG. 4A depicts a sequence of eight different captures from one pixel detector, as well as resultant phase shift and frame construction, according to an embodiment of the 12/459,033 application;
  • FIG. 4B depicts a sequence in which four adjacent pixel detectors acquire four phases in a single capture, as well as resultant phase shift and frame construction, according to an embodiment of the 12/459,033 application;
  • FIG. 4C depicts a sequence in which captures for each phase are offset- cancelled using data from the same pixel detector, as well as resultant phase shift and frame construction, according to an embodiment of the 12/459,033
  • FIG. 4D depicts a sequence for which direct computation of ⁇ is made, as well as depicting resultant phase shift and frame construction, according to an embodiment of the 12/459,033 application;
  • FIGS. 5A and 5B depict target object locations, real and phantom, determined using two modulation frequencies, according to a least common multiple dealiasing embodiment of 12/459,033 application. .
  • FIG. 6 depicts a phase-type time-of-flight three-dimensional imaging system with hierarchical dealiasing, according to embodiments of the present invention.
  • FIG. 7A-7C depict phase-vs-distance Z for various steps in hierarchical dealiasing, according to embodiments of the present invention.
  • Embodiments of the present invention implement methods and systems to hierarchically dealias time-of-flight (TOF) phase using at least three frequencies, and will be described with reference to Figs. 6-7D.
  • Conventional de-aliasing relies upon use of two frequencies. However using three or more frequencies can advantageously substantially increase the unambiguous distance of the TOF system, without significantly amplifying noise.
  • Aspects of the present invention can address hierarchical dealiasing, including aspects of probability distribution of phase, and elliptical correction.
  • Fig. 2A depicts a phase-type TOF system 200 similar to that described with respect to Figs. 1 A-1 C, except that additional components 210 and software 220 are included to implement embodiments of the 12/459,033 application.
  • software 220 and 210 may be considered as a dealiasing subsystem for TOF system 200.
  • Output DATA' may include information provided as DATA by TOF system 100 in Fig. 1 A.
  • a TOF system such as system 100 (Fig. 1A) or 200 (Fig. 2A) normally is operable at some maximum modulation frequency f m , perhaps 100 MHz.
  • f m denotes the highest modulation frequency at which the system is normally operable, and not the highest modulation frequency at which it can be operated.
  • Fig. 2B shows two of the many photodetectors (PD) in array 130, namely photodetectors 140-1 , and 140-N, as well as some of their associated electronics, namely 150-1 , 150-N.
  • This particular embodiment employs quantum efficiency (QE) modulated differential photodetectors or pixels 140, whose pixel detection information is captured at at least two discrete phases 0° and 90°, and more preferably four discrete phases 0° and 180°, and 90° and 270°.
  • QE quantum efficiency
  • phase shift data ⁇ that is sought to be detected is shift between emitted optical energy S ou t from emitter 120, and pixel detectors 140 in array 130 (see Fig. 2A).
  • the detection phase data that is captured at the discrete phases is denoted herein as captures C° and C 180 , C 90 and C 270 and is processed to implement dealiasing according to the 12/459,033 application. Acquisition using four phases is preferred so as to remove so-called fixed pattern offset.
  • the C° acquisition yields data but may include an error offset from zero, e.g., the value C° may not be zero when there is no signal to be detected.
  • the C 180 acquisition should have the same, but inverted, data and will have the same fixed pattern offset.
  • phase and Z data information is preserved but the fixed pattern offset is canceled out.
  • embodiments of the 12/459,033 application may be used to dealias multiphase TOF data that is obtained from single-ended phase detectors, as well as from detection systems that do not employ QE modulation detection.
  • Phase angle ⁇ can be computed from captures C°, C 90 , C 180 , C 270 , as follows:
  • Fig. 2B The configuration and operation of what is shown in Fig. 2B is similar to what was described with respect to a fixed phase delay embodiment (Fig. 10) in earlier-referenced U.S. patent nos. 6,580,496 and 7,906,793.
  • detection-generated photocurrent from each QE-modulated differential pixel detector e.g., 140-1 , is differentially detected (DIF.
  • a fixed discrete 0° or 90° phase shift delay (DELAY), and more preferably a fixed 0° or 180 or 90° or 270° phase shift is switchably insertable responsive to a phase select control signal (PHASE SELECT) that can be commanded by clock unit 180'.
  • Phase data e.g., C° and C 180 , C 90 and C 270 , is acquired or captured from the pixel detectors at these discrete phases.
  • phase detection may be found in the above- referenced patents, but without limitation, the fixed discrete phase shifts may be inserted by clock unit 180', whose signal is used to drive detector array 130, or may be introduced by modulator 1 15; see Fig. 2B.
  • modulation frequencies fi and h each typically less than the system maximum modulation frequency (f m ) are combined.
  • the resultant phase data acquired from each, denoted ⁇ i and ⁇ 2 is used to provide two goals: (1 ) obtaining the equivalent of a high modulation frequency measurement from system 200 that yields a low level of Z resolution uncertainty, and (2) obtaining the equivalent of a low modulation frequency measurement from system 200 that provides a long aliasing interval Z range. In this fashion the approximate Z range is determined from the long aliasing interval, while more precise determination of the Z value is determined from the high modulation frequency measurement.
  • System 200 is thus caused to operate using at least first and second frequencies fi , f2, where fi >f2, fi is close to f m , preferably within about 40% or less of f m , and f2 is within about 35% of fi and preferably closer.
  • fi may be said to lie in a range of about 60% to 100% of the frequency of f m such that if f m were say 100 MHz, then fi would have a frequency of about 60 MHz to as high as 100 MHz.
  • the range of f 2 is about 65% to about 99% the frequency such that if fi was say 90 MHz, then f 2 would have a frequency of about 58.5 MHz to about 89.1 MHz.
  • modulation frequencies fi and f 2 advantageously produced good resolution precision of Z measurements as though system 200 were collecting phase data operating with a high effective modulation frequency close to f m , perhaps (fi + f 2 )/2 or other combination of fi and f 2 . It is noted that the frequencies (fi - f 2 ), (fi + f 2 )/2 and other combinations of these modulation frequencies are really mathematical constructs or virtual frequencies, and system 200 does not physically operate at those virtual frequencies. Of course it is understood that more than two modulation
  • frequencies fi , f 2 may be used, which different modulation frequencies preferably are close in frequency to each other and to f m .
  • Using multiple modulation frequencies also results in Z resolution certainty or precision better than would be achieved if the TOF system processed data acquired solely while operating at modulation frequency fi and disregarded data acquired at modulation frequency f 2 , or operated at modulation frequency f 2 and disregarded data acquired at modulation frequency fi .
  • embodiments of the 12/459,033 application operated system 200 at high frequency, preferably close to f m , which maintains high operating system efficiency.
  • phase information captured by pixel detectors 140 at one modulation frequency may be shared with data frames captured at the other modulation frequency (or frequencies, if more than two modulation frequencies are employed).
  • Fig. 3 is a plot of phase versus distance Z, according to the 12/459,033 application.
  • a waveform is shown for phase data acquired using first modulation frequency fi , which data is denoted ⁇ .
  • fi is about 50 MHz.
  • Fig. 3 also shows a plot of phase data acquired using a slightly lower second modulation frequency h, data for which is denoted ⁇ 2.
  • h is about 31 MHz, and according its slope is less than that of the fi waveform, and its period (or aliasing interval range) is longer.
  • a typical value of f m for system 200 might be 70 MHz.
  • the h waveform is drawn with a heavier line than the fi waveform to promote clarity in the figure.
  • the wrap-around somewhat complicates the calculations of ⁇ and 0DS as noted later herein.
  • one aspect or goal of the 12/459,033 application was to provide a large aliasing interval range Z A IR by making it appear as though system 200 acquire phased phase data using a relatively low modulation frequency.
  • an exemplary function for f D may be a difference function (a-f b-f2), where a and b may be weighting factors.
  • phase delay ⁇ may be expressed in terms of absolute target distance Z as:
  • Equation (8) shows that Z can be determined from ⁇ ⁇ , which is 0D or (or ⁇ 1 - ⁇ 2 ) and from ⁇ 1 Note that this is the same equation one would use to
  • fi and f 2 could be used to achieve this goal, and one could employ more than two modulation frequencies, e.g., fi , f 2 , h, ⁇
  • the highest of these modulation frequencies fi would be close to the system highest maximum modulation frequency f m and at least within 40% of f m .
  • at least the closest together of the various modulation frequencies would be within about ⁇ 35% of each other, and preferably closer together than that.
  • maximum modulation frequency f m is close to the optimal operating point for TOF system 200. This means that f m is near a maximum of operating efficiency, and therefore curve of system operating efficiency is relatively flat in the vicinity of f m . Generally this maximum is quite flat and therefore operating frequencies fi and f 2 will also be close to the optimal operating conditions for system 200.
  • phase data from all modulation frequencies used averages noise in the phase data measurements, and advantageously results in lower noise than would be obtained using data acquired solely from fi or f 2 alone.
  • modulation frequencies fi and f 2 are preferably relatively close to maximum modulation frequency f m , each measurement is obtained with relatively high precision and lowered noise.
  • system 200 performance will be somewhat similar.
  • uncertainty obtained after combining data from frequency fi and f 2 will be about 0.7 times the uncertainty when phase data acquired using modulation frequency fi or modulation frequency f 2 was used alone .
  • this second aspect of the 12/459,033 application relates to combining phase data acquired by system 200 operating at different (but preferably close to each other) modulation frequencies so as to emulate system operation at a high modulation frequency that yields a low Z resolution uncertainty. While some specific methods of combining data will now be described, it is understood that many other combinations could also be used.
  • one approach is to combine that raw data readings from pixel detectors 140 in array 130 (see Figs. 2A and 2B) from captures (C 1 o, Ci 90 , Ci 180 , Ci 270 ) obtained at modulation frequency fi and add this raw data to data readings (C 2 °, C 2 °, C 2 180 , C 2 180 ) obtained at a frequency f 2 to produce (Ci 0 +C 2 °, Ci 90 +C 2 °, Ci 180 +C 2 180 , Ci 270 +C 2 180 ).
  • This exemplary combination is equivalent to adding the respective phase vectors together in a polar representation and obtaining the phase angle for the sum vector.
  • Vi (p, ⁇ )
  • V 2 (p, ⁇ 2 ) for captures at modulation frequencies fi , f 2 respectively.
  • modulation contrast denotes a measure of collection efficiency within pixel detectors 140, e.g., how well incoming photon energy from signal S in is captured and converted into a detection signal. A high modulation contrast is desirable.
  • V! + V 2 (2p. sin((0 1 -0 2 )/2),(0 1 + ⁇ 2 )/2) (9)
  • phase angles ( ⁇ + 0 2 )/2 of the phase angles is used, although other combinations of the actual phase angles are possible.
  • ⁇ and 0D may be determined in a variety of way. Regardless of the specific method used to obtain these values, preferably 0 E and 0D are both used to determine distance Z, as shown by Fig. 3.
  • Angle 0DS corresponds to the same frequency as 0 E and thus has the same slope as 0 E as shown in Fig. 3.
  • angle 0 D s is mathematically derived from 0D , it advantageously has the same large aliasing interval as 0D, denoted Z A IR.
  • both 0 D and ⁇ ⁇ are adjusted to take account the foldover or wrap around repetitions of ⁇ and ⁇ 2 .
  • ⁇ ⁇ ⁇ 2 it is known that ⁇ 1 must have wrapped around, and hence ⁇ must be added to ⁇ ⁇ .
  • Such trigonometric corrections are well known in the art and are assumed to have been performed on the data.
  • ⁇ 2 ⁇ represents the dealiased value of ⁇ ⁇ . It is of course assumed that the target object is at a distance less than the aliasing interval for f D . It is understood that other equivalent mathematical approaches to determine suitable values for K may also be employed.
  • difference frequency fo it is important to select an appropriate difference frequency fo. If fp is too big, the corresponding dealiasing interval for f D may be too small. Conversely, if f D is too small, then resolution certainty in Z measurements at f D can become too large. Thus, difference frequency fo should be as small as possible, subject to the noise constraints affecting resolution uncertainty.
  • the aliasing interval index K should be determined with high certainty to ensure the proper dealiasing interval is selected.
  • a frame represents a complete Z image acquired by sensor array 130, which is to say that each pixel detector 140 in the array is associated with a corresponding Z value from target object 20. Assume first that pixel detectors 140 in system 200 can only achieve one capture at a time. Under this assumption, some exemplary sequences are as follows.
  • FIG. 4A A first case is depicted in Fig. 4A, where it is assumed that the same pixel detector is sequenced though eight different captures to acquire the desired phase shift data ⁇ , ⁇ 2 .
  • a sequence of captures Ci°, Ci 90 , Ci 180 , Ci 270 is acquired over time.
  • a sequence of captures C2 0 , C2 90 , C2 180 , C2 270 is acquired, after which the system is returned to operating at modulation frequency fi and a sequence of captures Ci°, C1 90 , Ci 180 , C1 270 is made, and so on.
  • the phase information displayed beneath the relevant sequence of captures is the phase data acquired by system 200 operating at the associated modulation frequency.
  • subscript 1 denotes captures associated with modulation frequency fi
  • subscript 2 denotes captures associated with modulation frequency f 2 .
  • the frame information displayed beneath the phase information shows how frames are preferably constructed, according to the sequence shown. Once ⁇ 1 and ⁇ 2 have been determined, ⁇ E can be calculated from ( ⁇ + ⁇ 2 )/2.
  • Fig. 4B depicts another sequencing example, in which four adjacent pixel detectors, shown as a block, in the pixel array are used to acquire all four phases in a single capture.
  • the eight capture sequence of Fig. 4A is susceptible to motion blur due to the length of time to acquire all eight captures, the sequence shown in Fig. 4B should inherently exhibit lower motion blur.
  • the C°-C 180 offset cancellation is done with data from different pixels and performance can suffer in that offsets are not fully cancelled.
  • ⁇ E is calculated from ( ⁇ + ⁇ 2 )/2.
  • 4C depicts yet another sequencing example, one in which captures for each phase are cancelled with respect to C°-C 180 offset with the same pixel detector, shown as a block. In this configuration, performance is quite good, and motion blur is acceptable.
  • ⁇ E is calculated from ( ⁇ + ⁇ 2 )/2.
  • Fig. 4D depicts an alternative embodiment in which phase ⁇ and phase ⁇ 2 are not C°-C 180 offset corrected.
  • data quality is somewhat poor, but advantageously ⁇ ⁇ is computed directly from the captures Ci° - C 2 180 and Ci 90 - C 2 270 .
  • the method is as described previously, where C 2 180 is substituted for C 2 ° and where C 2 270 is substituted for C 2 90 .
  • ⁇ ⁇ is calculated from ( ⁇ + ⁇ 2 )/2.
  • Figs. 5A and 5B A lossy so-called least common multiple (LCM) dealiasing embodiment will now be described reference to Figs. 5A and 5B.
  • LCM least common multiple
  • a single modulation frequency fi of 25 MHz is used to acquire data
  • the Z distance of the object is either 1 m, 4 m, 7 m, or 12 m as suggested by the cross-hatched rectangular regions in Fig. 5A.
  • the above-two results are combined, leading to the conclusion that the target object must be at a distance of 7 m.
  • the target object is drawn in Figs. 5A and 5B with heavy bold lines to distinguish from phantom locations, which are drawn in phantom.
  • the true location of the target object could still be confused with another location at 19 M, but compared to the one-modulation frequency case, the use of two modulation frequencies has extended the unambiguous interval range substantially.
  • the effective unambiguous interval range is increased according to the LCM least common multiple of Z A IRI and Z MR2 .
  • One strategy in selecting modulation frequencies is to maximize the LCM of the corresponding unambiguous interval ranges by choosing two frequencies close to each other.
  • a relatively very low modulation frequency may be used to determine whether a target object is within a first or a second Z range or bin, e.g., perhaps between a 0 m to 50 m range, or perhaps between a 50 m to 100 m range. If TOF system 200 determines that the target object is within say 0 m to 50 m, then software 200 can cause clock 180' to double the modulation frequency to determine whether the target object lies within a 0 m to 25 m sub-range (or narrower bin), or within a 25 m to 50 m sub-range (or narrow bin).
  • a similar analysis and modulation frequency change is performed should the object initially have been found to lie with a 50 m to 100 m range.
  • This method of estimating distance range for the target object and then changing modulation frequency to better ascertain the distance range is repeated preferably until the range is determined with a desired range granularity. Again this method is preferably carried out automatically under command of software 220.
  • this example assumed the various alternate ranges or bins were 2X apart, other ratios may be used.
  • branch and bound hierarchical dealiasing it may be desirable to minimize the number of bins for each relatively low modulation frequency.
  • the hierarchical modulation frequency sweep process tends to maximize the effective system TOF modulation frequency by keeping the resolution requirement at each lower modulation frequency as small as feasible.
  • a branch and bound embodiment may be combined with lossless dealiasing embodiment at one or more steps in the hierarchical process.
  • f c (1 10 MHz + 100 MHz/100)
  • dealiasing according to embodiments of the 12/459,033 application is lossless, and provided a relatively large aliasing interval range commensurate with a low modulation frequency. These embodiments also provide high precision certainty with respect to a given Z value, commensurate with a modulation frequency close to the highest modulation frequency f m . Dealiasing could be carried out relatively losslessly or with loss, depending upon the embodiment.
  • TOF system 300 implements the present invention.
  • TOF system 300 includes a clock unit 180" that may be modified over clock unit 180 in Fig. 1 A and, or alternatively, includes hardware 310 and/or software 320.
  • Software 320 may but need not be executed by processor 160. This hardware and/or software implement the various
  • Embodiments of the present invention preferably employ an n- step hierarchical dealiasing approach to avoid aliasing problems caused by very large amplification of the noise in B E .
  • f E g 0 (f 1 , f 2 , - , f m ) is a function of the modulation
  • frequencies f x , f 2 , - , f m preferably an arithmetic mean or a weighted average.
  • embodiments of the present invention preferably generate a set of N— 1 intermediate frequencies f DE1 , f DE2 , - , f DE ⁇ N-i) , where f D ⁇ f DE1 ⁇ f DE2 ⁇
  • the number of the intermediate frequencies N— 1 and the ratio 1) between frequencies in each consecutive pair preferably are determined by the uncertainty of the depth.
  • the uncertainty of the amplifying factor at each step is sufficiently small such that the probability of choosing m k incorrectly is low.
  • this method achieves the desired large ratio
  • Figs. 7A-7D Exemplary algorithm details for two-step hierarchical dealiasing will now be described with reference to Figs. 7A-7D. It is understood that these steps are preferably carried out with TOF system 300, e.g., by clock unit 180", and/or modules 310, 320.
  • Fig. 7C shows that 0 D E and 0, are likely to wrap around at different distances.
  • 6DE- TO dealias 6DS as shown in Fig. 7A, one would have to dealias ⁇ 0 ⁇ for all of the four cycles shown in the figure.
  • ⁇ 1 be the phase of / 1; let ⁇ 2 be the phase of f 2 , and let ⁇ 3 to be the phase of 3 .
  • an "offset compensation" method is used to avoid adding additional constraints that limit the choices of frequencies.
  • the offset-corrected phase e° ffset will always start at zero phase at the beginning of each cycle of 6 D ES-
  • ⁇ Q° set + ⁇ 2 ⁇ + ⁇ 2 ⁇
  • the present invention provides hierarchical dealiasing for a TOF system that functions even in the presence of noise.
  • a number N, N > 3 of frequencies that are close to each other are used to create a slow dealiasing frequency and at least one intermediate frequency that can be used to dealias a long distance hierarchically.
  • embodiments of the present invention rather than amplifying noise by a very large ratio as in two-frequency dealiasing, embodiments of the present invention only amplify noise by a small ratio at each dealiasing step.

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Abstract

Un système de temps de vol (TOF) acquiert séparément des données de profondeur en utilisant n fréquences de modulation (n ≥ 3) f1 , f2 , ..., fm , associées à des plages distinctes d'intervalles de repliement Z1 , Z2 , ..., Zm . Ensuite, n fréquences intermédiaires fDE1 , fDE2 , ..., fDEn sont générées selon l'ordre de tri fDE1 < fDE2 < ... < fDEn et des phases correspondantes sont calculées à partir des données acquises séparément à l'aide de f1 , f2 , ..., fm . Un anti-repliement hiérarchique des données ainsi acquises est exécuté à l'aide des fréquences intermédiaires générées. Employé de cette manière, le système TOF fournit une plage d'intervalles de repliement efficace ZD > Zk pour k = 1 à n comme si ledit système TOF était employé à une fréquence de modulation très basse fD tout en fournissant simultanément une certitude de résolution de profondeur comme si ledit système TOF était employé à une fréquence de modulation élevée fE . De préférence, une fréquence de modulation élevée fE est une fonction de toutes les fréquences de modulation f1, f2 , ..., fm , une telle fonction pouvant être une moyenne arithmétique ou une moyenne pondérée de f1 , f2 , ..., fm .
PCT/US2011/044800 2010-07-21 2011-07-21 Procédés et systèmes pour des systèmes hiérarchiques de temps de vol (tof) d'anti-repliement Ceased WO2012012607A2 (fr)

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JP2013520860A JP5918763B2 (ja) 2010-07-21 2011-07-21 階層的な飛行時間（ｔｏｆ）システムのディエリアシング方法およびシステム
IL224134A IL224134A (en) 2010-07-21 2013-01-08 Methods and systems for eliminating hierarchical curve scaling in tof systems

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CN102393515A (zh) 2012-03-28
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US8629976B2 (en) 2014-01-14
EP2596321B1 (fr) 2017-10-11
EP2596321A2 (fr) 2013-05-29
CN102393515B (zh) 2013-11-06
IL224134A (en) 2016-09-29
KR20150007192A (ko) 2015-01-20
KR101824753B1 (ko) 2018-02-01
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US20110188028A1 (en) 2011-08-04
WO2012012607A3 (fr) 2012-05-10

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